Realization of precise force control using both 2‐DOF control and learning control

Recently, two degrees‐of‐freedom (2DOF) control has been widely recognized to be efficient. The major merit of 2DOF control is independence between tracking performance and the feedback performance. However, there is a limitation on tracking performance in the 2DOF control system. In this paper, we propose a new control system that consists of a conventional 2DOF controller and a learning controller. The role of the learning controller is to realize high tracking performance, which cannot be realized alone by the 2DOF controller. The learning controller can be designed by using only information specifying a 2DOF controller, and it does not need information about the controlled plant. We show some experimental results to verify the effectiveness of the proposed system. © 1999 Scripta Technica, Electr Eng Jpn, 128(4): 102–110, 1999     

三自由度永磁同步平面电机的控制策略

在介绍三自由度平面电机的结构和工作原理之后,提出执行器的电磁力方程和平面电机的运动控制方程,推导合外力和执行器水平电磁力的转换方程,提出平面电机的三自由度解耦控制策略.设计三个自由度的位置伺服控制算法,进行单自由度定位和三自由度同时定位实验.平移运动的上升时间为0.1 s,稳态误差为10 μm,旋转运动的上升时间为0....     

一种基于FPGA的并行CRC及其UART实现

介绍了循环冗余效验(CRC)的实现原理和实现方法,串行实现方法占用资源少、简单可行,但效率较低;并行实现方法可以同时完成多位CRC计算,但占用的硬件资源多.为了提高CRC计算效率并减少资源消耗,提出了一种并行CRC编码方法并以CRC-16为例,采用Altera公司的Arria V GX系列FPGA芯片5AGXFB3 H4F35C4N实现了带CRC效验的异步串口通信(UART),调用仿真工具Active-HDL,仿真结果显示该种方法消耗的硬件资源较少,能在输入发生变化的下一个时钟完成CRC并行计算.     

容性等效输出阻抗的逆变器并联控制研究

并联逆变器的等效输出阻抗一般设计呈感性、阻性及阻感性。通过合理的控制方法和合适的参数设计,在以上三种等效输出阻抗形式下,均可实现微网中的多逆变器并联控制。为进一步寻求更优的并联控制策略,建立了两台逆变器并联运行系统模型,通过引入虚拟阻抗,将逆变器输出阻抗设计呈电容性,推导出了容性等效输出阻抗条件下的下垂控制算法,提出了基于容性等效输出阻抗的鲁棒下垂控制策略。通过仿真分别对比了容性和感性、阻性等效输出阻抗条件下的功率均分特性,结果表明,容性等效输出阻抗条件下的多逆变器并联运行系统具有更好的性能。通过两台额定功率均为2k VA的光伏逆变器并联系统平台验证了基于容性等效输出阻抗的鲁棒下垂控制策略的正确性。     

基于OMAP的可重构嵌入式运动控制系统设计

为增强嵌入式运动控制器的开放性、满足柔性化制造需求。深入分析了该类型控制器的结构特点,采用模块化设计、可重构设计思想,构建了一套基于OMAP和FPGA的可重构嵌入式运动控制系统。在此基础上,对系统内部进行了结构层次、功能模块的划分,并完成了各模块的详细设计。最后通过模块重组,搭建了一套单轴多环路运动控制系统。实验结果表明,各分模块工作正常,系统具备可重构性、通用性、易扩展性和开放性等特点,能满足不同应用场合的运动控制需求。     

Realization of acceleration control using multirate sampling method

This paper focuses on the realization of high‐performance motion control based on acceleration control. The characteristics of acceleration control are investigated and the relationship between the performance and sampling frequency of the system is discussed. This paper then describes that a higher sampling frequency is required for acquisition of output information than for updating the input value. Based on this idea, a new multirate sampling method for an acceleration control system is proposed. A disturbance observer for the multirate system is designed by adopting a new definition of disturbance torque. A bilateral system is introduced as a preeminent example of a system that requires robust acceleration control. Both simulations and experiments are performed on the system, and the validity of the proposition is verified by the results. © 2007 Wiley Periodicals, Inc. Electr Eng Jpn, 162(4): 72–81, 2008; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20507     

Motion of control of a multijoint robot based on a robust velocity controller

This paper proposes a simple and robust robot motion control method using a robust velocity controller. The robust velocity controller is based on H^∞ control theory, and is called H^∞ velocity controller. The H^∞ velocity controller based motion control method is completely equivalent to the robust acceleration control method using the H^∞ acceleration controller, but it has simpler structure. Therefore, the proposed system can realize a fine robot motion control easily. To confirm the validity of the proposed method, this paper realizes the hybrid control of position and force for a multijoint robot manipulator. Further, the simple realization of hybrid control is proposed considering the attitude of the robot manipulator. This system achieves hybrid control of position and force of the robot manipulator while maintaining a perpendicular attitude to the target environment. The experimental results in this paper show that the proposed system has the desired force and position response to the target environment. © 1997 Scripta Technica, Inc. Electr Eng Jpn, 118 (4): 58–69, 1997     

基于SoC FPGA硬件并行化计算的配电网电压控制技术

随着主动配电网以及物联网技术的发展,无功设备的接入呈现复杂化和边缘化的趋势,电压无功控制的计算也向边缘计算发展。然而由于算力受限,边缘节点纯软件式的计算所需时间较长,无法满足控制实时性的要求。针对此问题,本文提出一种基于SoC FPGA硬件并行化计算的配电网电压控制策略。首先设计了基于SoC FPGA的软硬件计算框架,在此基础上对配电网电压无功优化模型与遗传算法求解方法做了适用于FPGA的针对性改进,最后分模块设计了FPGA硬件求解结构。通过两个算例场景验证可知,相比于边缘节点纯软件式的求解方式,本方法的平均求解效率分别提升了2.41倍和2.15倍,可有效提升电压无功控制的实时性。     

3-RRRT并联机器人鲁棒自适应模糊滑模控制

针对3-RRRT型搬运并联机器人提出了一种直接自适应模糊滑模控制方法.根据机器人的系统动力学模型特点,基于Lyapunov函数的综合设计方法和滑模控制理论,利用模糊逻辑系统与自适应技术相结合,提出了一种控制律,然后进行了系统控制仿真实验.结果表明,采用这种直接自适应模糊滑模控制方法的3-RRRT型并联机器人在周期干扰状况下达到了较高的轨迹控制精度,其闭环系统具有较强的自适应性和鲁棒稳定性.     

用于振动抑制的正位置反馈控制及其FPGA实现

使用正位置反馈控制 (PPF) 对结构进行振动抑制。阐述了正位置反馈控制器的基本形式并分析了其控制机理,说明PPF控制器可以达到主动阻尼的效果,且具有较高的鲁棒性。详细分析了FPGA (可编程门阵列) 平台用于主动控制的优势以及在FPGA平台上对控制器进行快速原型实现的基本流程。完成了基于FPGA的PPF控制器设计,通过同位配置的压电片作为传感和驱动元件,实现对飞机壁板其中的一个模态的振动控制。实验结果表明,使用FPGA可以实现常规控制器难以完成的高速反馈控制,且简化了控制系统,振动控制效果可达8分贝。最后根据对控制器不同阻尼比参数的选取,阐述了阻尼比对控制效果的影响。     

孤岛微网并联逆变器环流抑制与母线电压控制

针对孤岛微网中采用传统下垂控制的并联微源逆变器之间存在较大环流及母线电压和频率偏移问题,文中从环流的一般性定义出发,分析了环流与负荷功率分配之间的定量关系,在此基础上将环流抑制问题转化为功率精确分配问题,并提出了一种母线电压和频率自恢复的改进鲁棒下垂控制方法.将PI控制器引入无功电压控制环中,实现无功功率的精确分配并加...     

基于并行数据处理结构的电能质量在线监测

提出了基于现场可编程门阵列器件FPGA与数字信号处理器DSP并行结构的在线电能质量监测与分析。由FPGA同步产生系统控制时序,并充分利用FPGA与DSP各自在数字信号处理领域中的特点,在FP GA内设计了16位浮点FFT运算模块用于谐波分析,应用DSP实现电压波动与闪变等电能质量指标数据的计算,采用FPGA与DSP并行数据处理的方式,达到采样与数据处理的同步进行的目的,从而完成对多路信号的无缝采样与分析。     

基于模糊神经网络逆系统的五自由度无轴承永磁同步电机自抗扰控制

为了实现五自由度无轴承永磁同步电机的高性能控制,提出一种基于Takagi-Sugeno(T-S)型模糊神经网络逆系统的自抗扰控制方法.首先,基于五自由度无轴承永磁同步电机(5-DOF BPMSM)的结构及运行原理,建立五自由度无轴承永磁同步电机的数学模型,并对数学模型进行了可逆性分析.其次,利用T-S型模糊神经网络的非...     

Realization of anti-slip/skid re-adhesion control for electric commuter train based on disturbance observer

Recently, disturbance observer has been used in many system and industry applications. This paper focus on the fine motion control technology based on disturbance observer for electric commuter train. The improvement of adhesion characteristics is important in electric commuter train. We propose the anti-slip/skid re-adhesion control system based on disturbance observer and sensor-less vector control. The effectiveness of the proposed method is confirmed by the experiment based on the actual electric commuter train, which is Series 205-5000 of East Japan Railway Company. Moreover, in order to extend the anti-slip/skid re-adhesion control considering the bogie vibration phenomenon, we propose a new anti-slip re-adhesion control based on the high order disturbance observer considering the resonant frequency of bogie system. Copyright © 2009 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

基于FPGA的并联逆变控制电路全数字化研究

本文提出了一种基于FPGA的并联逆变控制电路的全数字化控制方法,控制电路由全数字锁相环、数字扫频启动环节和重叠角控制环节组成.文中采用的改进型全数字锁相环可以很快捕捉到负载频率变化,基于定角控制原理的重叠角控制电路,可以在加热过程中保持恒定的功率因数角.文中详细设计和分析了各功能模块并进行了相应的仿真,仿真结果证明该控制电路锁相范围宽,可调节性强,可以完成控制目标,能够替代模拟电路实现对逆变器的控制,具有广阔的应用前景.     

Adaptive robust output‐feedback motion control of hydraulic actuators

Most previous advanced motion control of hydraulic actuators used full‐state feedback control techniques. However, in many cases, only position feedback is available, and thus, there are imperious demands for output‐feedback control for hydraulic systems. This paper firstly transforms a hydraulic model into an output feedback–dependent form. Thus, the K‐filter can be employed, which provides exponentially convergent estimates of the unmeasured states. Furthermore, this observer has an extended filter structure so that online parameter adaptation can be utilized. In addition, it is a well‐known fact that any realistic model of a hydraulic system suffers from significant extent of uncertain nonlinearities and parametric uncertainties. This paper constructs an adaptive robust controller with backstepping techniques, which is able to take into account not only the effect of parameter variations coming from various hydraulic parameters but also the effect of hard‐to‐model nonlinearities such as uncompensated friction forces, modeling errors, and external disturbances. Moreover, estimation errors that come from initial state estimates and uncompensated disturbances are dealt with via certain robust feedback at each step of the adaptive robust backstepping design. After that, a detailed stability analysis for the output‐feedback closed‐loop system is scrupulously checked, which shows that all states are bounded and that the controller achieves a guaranteed transient performance and final tracking accuracy in general and asymptotic output tracking in the presence of parametric uncertainties only. Extensive experimental results are obtained for a hydraulic actuator system and verify the high‐performance nature of the proposed output‐feedback control strategy.     

基于OFDM的低压电力线通信系统的均衡模块在FPGA上的实现

尽管正交频分复用(OFDM)是一种抗干扰和抗衰落能力都很强的调制技术，但由于信道的特殊性，在基于OFDM的低压电力线通信中仍要使用均衡技术。本文提出了基于OFDM的低压电力线通信系统的均衡模块的系统结构和时域、频域均衡算法，最后又介绍了算法和结构在FPGA上的实现，给出了MAC单元框图，LMS算法框图和粗略的Verilog程序框图以及行为仿真结果。     

Adaptive performance/ robust control design using orthotopic set membership identification for low-dimensional systems

The adaptive robust control design problem for low-dimensional systems is addressed in this paper. The proposed scheme consists of an orthotopic set membership identifier, a robust stabilizing controller and a pole placement controller. The identifier provides the minimum (volume-wise) orthotopic region of parameters which is consistent with the data and model structure. Based on this orthotope, the robust controller computes the feasible set of stabilizing controller gains. Subsequently a pole assignment controller selects a subset from the stabilizing gains in order to place the closed-loop poles deeper inside the unit disc. Simulation studies are offered to validate the efficiency of the proposed method. © 1997 John Wiley & Sons, Ltd.     

Issues,progress and new results in robust adaptive control

We overview recent progress in the field of robust adaptive control with special emphasis on methodologies that use multiple‐model architectures. We argue that the selection of the number of models, estimators and compensators in such architectures must be based on a precise definition of the robust performance requirements. We illustrate some of the concepts and outstanding issues by presenting a new methodology that blends robust non‐adaptive mixed µ‐synthesis designs and stochastic hypothesis‐testing concepts leading to the so‐called robust multiple model adaptive control (RMMAC) architecture. A numerical example is used to illustrate the RMMAC design methodology, as well as its strengths and potential shortcomings. The later motivated us to develop a variant architecture, denoted as RMMAC/XI, that can be effectively used in highly uncertain exogenous plant disturbance environments. Copyright © 2006 John Wiley & Sons, Ltd.     

大尺寸部件测量信息高速并行处理系统设计

针对航空、航天等工业中的大尺寸部件,传统的测量方法精度低、效率低,研发一种全视角、高精度的三维测量设备尤为必要。全视角图像信息处理是整个设备的关键,为了高速、高实时性地处理大尺寸图像信息,对高速并行图像处理技术进行研究,设计基于FPGA+双多核DSP的并行图像处理方案,实现系统硬件电路,提出并行处理的软件实现方法,将图像处理算法向硬件系统移植,对系统进行试验验证。对8 000×10 000的图像处理结果表明,单帧图像处理平均速度不大于0.15 s。